static void
vm_suspend_resume(struct vmctx *ctx)
{
/*
* If we get warm reboot request, we don't want to exit the
* vcpu_loop/vm_loop/mevent_loop. So we do:
* 1. pause VM
* 2. flush and clear ioreqs
* 3. stop vm watchdog
* 4. wait for resume signal
* 5. reset vm watchdog
* 6. hypercall restart vm
*/
vm_pause(ctx);
vm_clear_ioreq(ctx);
vm_stop_watchdog(ctx);
wait_for_resume(ctx);
pm_backto_wakeup(ctx);
vm_reset_watchdog(ctx);
vm_reset(ctx);
/* set the BSP init state */
vm_set_vcpu_regs(ctx, &ctx->bsp_regs);
vm_run(ctx);
}
/**
* Pour requested_amount grams from bottle..
* Return 0 on success, other values are return values of
* delay_until (including scale error codes).
*/
errv_t Bottle::pour(int requested_amount, int& measured_amount) {
// orig_weight is weight including ingredients poured until now
int orig_weight, ret;
while (1) {
// get weight while turning bottle, because ads1231_stable_millis()
// blocks bottle in pause position too long
int below_pause = (pos_down + get_pause_pos()) / 2;
ret = turn_to(below_pause, TURN_DOWN_DELAY, true, &orig_weight);
// Note that checking weight here is a critical issue, allows hacking
// the robot. If a heavy weight is placed while measuring and then
// removed while pouring (results in more alcohol). Stable weight
// should resolve most problems.
if (ret == WEIGHT_NOT_STABLE) {
ret = ads1231_get_stable_grams(orig_weight);
}
if (ret != 0 && ret != WHERE_THE_FUCK_IS_THE_CUP) {
return ret;
}
if (ret == WHERE_THE_FUCK_IS_THE_CUP || orig_weight < WEIGHT_EPSILON) {
// no cup...
RETURN_IFN_0(wait_for_cup());
}
else {
// everything fine
break;
}
}
// loop until successfully poured or aborted or other fatal error
while(1) {
// petres wants POURING message also after resume...
// https://github.com/rfjakob/barwin-arduino/issues/10
MSG(String("POURING ") + String(number) + String(" ") + String(orig_weight));
DEBUG_MSG_LN("Turn down");
ret = turn_down(TURN_DOWN_DELAY, true); // enable check_weight
// wait for requested weight
// FIXME here we do not want WEIGHT_EPSILON and sharp >
if (ret == 0) {
DEBUG_MSG_LN("Waiting");
ret = delay_until(POURING_TIMEOUT,
orig_weight + requested_amount - UPGRIGHT_OFFSET, true);
}
if (ret == 0)
break; // All good
DEBUG_MSG_LN(String("pour: got err ") + String(ret));
// Bottle empty
// Note that this does not work if requested_amount is less than
// UPGRIGHT_OFFSET!
if(ret == BOTTLE_EMPTY) {
ERROR(strerror(BOTTLE_EMPTY) + String(" ") + String(number) );
// TODO other speed here? it is empty already!
RETURN_IFN_0(turn_to(pos_up + BOTTLE_EMPTY_POS_OFFSET, TURN_UP_DELAY));
RETURN_IFN_0(wait_for_resume()); // might return ABORTED
}
// Cup was removed early
else if(ret == WHERE_THE_FUCK_IS_THE_CUP) {
ERROR(strerror(WHERE_THE_FUCK_IS_THE_CUP));
RETURN_IFN_0(turn_to_pause_pos(FAST_TURN_UP_DELAY));
RETURN_IFN_0(wait_for_cup());
}
// other error - turn bottle up and return error code
// includes: scale error, user abort, ...
else {
return ret;
}
}
// We turn to pause pos and not completely up so we can crossfade
RETURN_IFN_0(turn_to_pause_pos(TURN_UP_DELAY));
RETURN_IFN_0(ads1231_get_grams(measured_amount));
measured_amount -= orig_weight;
DEBUG_START();
DEBUG_MSG("Stats: ");
DEBUG_VAL(requested_amount);
DEBUG_VAL(measured_amount);
DEBUG_END();
return 0;
}
